OpenRaiser/Intern-Atlas huggingface dataset:
AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer
Venue: arXiv cs.RO 2023
Year: 2023

Simulation parameter settings such as contact models and object geometry approximations are critical to training robust robotic policies capable of transferring from simulation to real-world deployment. Previous approaches typically handcraft distributions over such parameters (domain randomization), or identify parameters that best match the dynamics of the real environment (system identification). However, there is often an irreducible gap between simulation and reality: attempting to match the dynamics between simulation and reality across all states and tasks may be infeasible and may not lead to policies that perform well in reality for a specific task. Addressing this issue, we propose AdaptSim, a new task-driven adaptation framework for sim-to-real transfer that aims to optimize task performance in target (real) environments -- instead of matching dynamics between simulation and reality. First, we meta-learn an adaptation policy in simulation using reinforcement learning for adjusting the simulation parameter distribution based on the current policy's performance in a target environment. We then perform iterative real-world adaptation by inferring new simulation parameter distributions for policy training, using a small amount of real data. We perform experiments in three robotic tasks: (1) swing-up of linearized double pendulum, (2) dynamic table-top pushing of a bottle, and (3) dynamic scooping of food pieces with a spatula. Our extensive simulation and hardware experiments demonstrate AdaptSim achieving 1-3x asymptotic performance and $\sim$2x real data efficiency when adapting to different environments, compared to methods based on Sys-ID and directly training the task policy in target environments. Website: https://irom-lab.github.io/AdaptSim/
In-Context Learning with Many Demonstration Examples
Venue: arXiv cs.CL 2023
Year: 2023

Large pre-training language models (PLMs) have shown promising in-context learning abilities. However, due to the backbone transformer architecture, existing PLMs are bottlenecked by the memory and computational cost when scaling up to a large context size, leaving instruction tuning and in-context learning of many demonstration examples, as well as long-range language modeling under-explored. In this study, we propose a long-range language model EVALM based on an efficient transformer mechanism. EVALM is trained with 8k tokens per batch line and can test up to 256k-lengthed contexts with extrapolation, 128 times to the limit of existing PLMs (e.g. GPT3). Based on EVALM, we scale up the size of examples efficiently in both instruction tuning and in-context learning to explore the boundary of the benefits from more annotated data. Experimental results on a diverse set of tasks show that EVALM achieves 4.1% higher accuracy on average, and the average length of achieving the best accuracy score over tasks is around 12k. We find that in-context learning can achieve higher performance with more demonstrations under many-shot instruction tuning (8k), and further extending the length of instructions (16k) can further improve the upper bound of scaling in-context learning.
CREDENCE: Counterfactual Explanations for Document Ranking
Venue: arXiv cs.IR 2023
Year: 2023

Towards better explainability in the field of information retrieval, we present CREDENCE, an interactive tool capable of generating counterfactual explanations for document rankers. Embracing the unique properties of the ranking problem, we present counterfactual explanations in terms of document perturbations, query perturbations, and even other documents. Additionally, users may build and test their own perturbations, and extract insights about their query, documents, and ranker.
A SWAT-based Reinforcement Learning Framework for Crop Management
Venue: arXiv cs.LG 2023
Year: 2023

Crop management involves a series of critical, interdependent decisions or actions in a complex and highly uncertain environment, which exhibit distinct spatial and temporal variations. Managing resource inputs such as fertilizer and irrigation in the face of climate change, dwindling supply, and soaring prices is nothing short of a Herculean task. The ability of machine learning to efficiently interrogate complex, nonlinear, and high-dimensional datasets can revolutionize decision-making in agriculture. In this paper, we introduce a reinforcement learning (RL) environment that leverages the dynamics in the Soil and Water Assessment Tool (SWAT) and enables management practices to be assessed and evaluated on a watershed level. This drastically saves time and resources that would have been otherwise deployed during a full-growing season. We consider crop management as an optimization problem where the objective is to produce higher crop yield while minimizing the use of external farming inputs (specifically, fertilizer and irrigation amounts). The problem is naturally subject to environmental factors such as precipitation, solar radiation, temperature, and soil water content. We demonstrate the utility of our framework by developing and benchmarking various decision-making agents following management strategies informed by standard farming practices and state-of-the-art RL algorithms.
On the Tacit Linearity Assumption in Common Cascaded Models of RIS-Parametrized Wireless Channels
Venue: arXiv cs.IT 2023
Year: 2023

We analytically derive from first physical principles the functional dependence of wireless channels on the RIS configuration for generic (i.e., potentially complex-scattering) RIS-parametrized radio environments. The wireless channel is a linear input-output relation that depends non-linearly on the RIS configuration because of two independent mechanisms: i) proximity-induced mutual coupling between close-by RIS elements; ii) reverberation-induced long-range coupling between all RIS elements. Mathematically, this "structural" non-linearity originates from the inversion of an "interaction" matrix that can be cast as the sum of an infinite Born series [for i)] or Born-like series [for ii)] whose $K$th term physically represents paths involving $K$ bounces between the RIS elements [for i)] or wireless entities [for ii)]. We identify the key physical parameters that determine whether these series can be truncated after the first and second term, respectively, as tacitly done in common cascaded models of RIS-parametrized wireless channels. Numerical results obtained with the physics-compliant PhysFad model and experimental results obtained with a RIS prototype in an anechoic (echo-free) chamber and rich-scattering reverberation chambers corroborate our analysis. Our findings raise doubts about the reliability of existing performance analysis and channel-estimation protocols for cases in which cascaded models poorly describe the physical reality.
Sensing Assisted Communication for the Next Generation mmWave WLAN: System Simulation Perspective
Venue: arXiv cs.NI 2023
Year: 2023

With the proliferating of wireless demands, wireless local area network (WLAN) becomes one of the most important wireless networks. Network intelligence is promising for the next generation wireless networks, captured lots of attentions. Sensing is one efficient enabler to achieve network intelligence since utilizing sensing can obtain diverse and valuable non-communication information. Thus, integrating sensing and communications (ISAC) is a promising technology for future wireless networks. Sensing assisted communication (SAC) is an important branch of ISAC, but there are few related works focusing on the systematical and comprehensive analysis on SAC in WLAN. This article is the first work to systematically analyze SAC in the next generation WLAN from the system simulation perspective. We analyze the scenarios and advantages of SAC. Then, from system simulation perspective, several sources of performance gain brought from SAC are proposed, i.e. beam link failure, protocol overhead, and intra-physical layer protocol data unit (intra-PPDU) performance decrease, while several important influencing factors are described in detail. Performance evaluation is deeply analyzed and the performance gain of the SAC in both living room and street canyon scenarios are verified by system simulation. Finally, we provide our insights on the future directions of SAC for the next generation WLAN.
Predicting Out-of-Distribution Error with Confidence Optimal Transport
Venue: arXiv cs.LG 2023
Year: 2023

Out-of-distribution (OOD) data poses serious challenges in deployed machine learning models as even subtle changes could incur significant performance drops. Being able to estimate a model's performance on test data is important in practice as it indicates when to trust to model's decisions. We present a simple yet effective method to predict a model's performance on an unknown distribution without any addition annotation. Our approach is rooted in the Optimal Transport theory, viewing test samples' output softmax scores from deep neural networks as empirical samples from an unknown distribution. We show that our method, Confidence Optimal Transport (COT), provides robust estimates of a model's performance on a target domain. Despite its simplicity, our method achieves state-of-the-art results on three benchmark datasets and outperforms existing methods by a large margin.
A Comprehensive Survey on Automatic Knowledge Graph Construction
Venue: arXiv cs.IR 2023
Year: 2023

Automatic knowledge graph construction aims to manufacture structured human knowledge. To this end, much effort has historically been spent extracting informative fact patterns from different data sources. However, more recently, research interest has shifted to acquiring conceptualized structured knowledge beyond informative data. In addition, researchers have also been exploring new ways of handling sophisticated construction tasks in diversified scenarios. Thus, there is a demand for a systematic review of paradigms to organize knowledge structures beyond data-level mentions. To meet this demand, we comprehensively survey more than 300 methods to summarize the latest developments in knowledge graph construction. A knowledge graph is built in three steps: knowledge acquisition, knowledge refinement, and knowledge evolution. The processes of knowledge acquisition are reviewed in detail, including obtaining entities with fine-grained types and their conceptual linkages to knowledge graphs; resolving coreferences; and extracting entity relationships in complex scenarios. The survey covers models for knowledge refinement, including knowledge graph completion, and knowledge fusion. Methods to handle knowledge evolution are also systematically presented, including condition knowledge acquisition, condition knowledge graph completion, and knowledge dynamic. We present the paradigms to compare the distinction among these methods along the axis of the data environment, motivation, and architecture. Additionally, we also provide briefs on accessible resources that can help readers to develop practical knowledge graph systems. The survey concludes with discussions on the challenges and possible directions for future exploration.
Application of Machine Learning in Identification of Best Teaching Method for Children with Autism Spectrum Disorder
Venue: arXiv cs.HC 2023
Year: 2023

A good teaching method is incomprehensible for an autistic child. The autism spectrum disorder is a very diverse phenomenon. It is said that no two autistic children are the same. So, something that works for one child may not be fit for another. The same case is true for their education. Different children need to be approached with different teaching methods. But it is quite hard to identify the appropriate teaching method. As the term itself explains, the autism spectrum disorder is like a spectrum. There are multiple factors to determine the type of autism of a child. A child might even be diagnosed with autism at the age of 9. Such a varied group of children of different ages, but specialized educational institutions still tend to them more or less the same way. This is where machine learning techniques can be applied to find a better way to identify a suitable teaching method for each of them. By analyzing their physical, verbal and behavioral performance, the proper teaching method can be suggested much more precisely compared to a diagnosis result. As a result, more children with autistic spectrum disorder can get better education that suits their needs the best.
Choose your tools carefully: A Comparative Evaluation of Deterministic vs. Stochastic and Binary vs. Analog Neuron models for Implementing Emerging Computing Paradigms
Venue: arXiv cs.ET 2023
Year: 2023

Neuromorphic computing, commonly understood as a computing approach built upon neurons, synapses, and their dynamics, as opposed to Boolean gates, is gaining large mindshare due to its direct application in solving current and future computing technological problems, such as smart sensing, smart devices, self-hosted and self-contained devices, artificial intelligence (AI) applications, etc. In a largely software-defined implementation of neuromorphic computing, it is possible to throw enormous computational power or optimize models and networks depending on the specific nature of the computational tasks. However, a hardware-based approach needs the identification of well-suited neuronal and synaptic models to obtain high functional and energy efficiency, which is a prime concern in size, weight, and power (SWaP) constrained environments. In this work, we perform a study on the characteristics of hardware neuron models (namely, inference errors, generalizability and robustness, practical implementability, and memory capacity) that have been proposed and demonstrated using a plethora of emerging nano-materials technology-based physical devices, to quantify the performance of such neurons on certain classes of problems that are of great importance in real-time signal processing like tasks in the context of reservoir computing. We find that the answer on which neuron to use for what applications depends on the particulars of the application requirements and constraints themselves, i.e., we need not only a hammer but all sorts of tools in our tool chest for high efficiency and quality neuromorphic computing.
Eadro: An End-to-End Troubleshooting Framework for Microservices on Multi-source Data
Venue: arXiv cs.SE 2023
Year: 2023

The complexity and dynamism of microservices pose significant challenges to system reliability, and thereby, automated troubleshooting is crucial. Effective root cause localization after anomaly detection is crucial for ensuring the reliability of microservice systems. However, two significant issues rest in existing approaches: (1) Microservices generate traces, system logs, and key performance indicators (KPIs), but existing approaches usually consider traces only, failing to understand the system fully as traces cannot depict all anomalies; (2) Troubleshooting microservices generally contains two main phases, i.e., anomaly detection and root cause localization. Existing studies regard these two phases as independent, ignoring their close correlation. Even worse, inaccurate detection results can deeply affect localization effectiveness. To overcome these limitations, we propose Eadro, the first end-to-end framework to integrate anomaly detection and root cause localization based on multi-source data for troubleshooting large-scale microservices. The key insights of Eadro are the anomaly manifestations on different data sources and the close connection between detection and localization. Thus, Eadro models intra-service behaviors and inter-service dependencies from traces, logs, and KPIs, all the while leveraging the shared knowledge of the two phases via multi-task learning. Experiments on two widely-used benchmark microservices demonstrate that Eadro outperforms state-of-the-art approaches by a large margin. The results also show the usefulness of integrating multi-source data. We also release our code and data to facilitate future research.
Confidence-based Reliable Learning under Dual Noises
Venue: arXiv cs.CV 2023
Year: 2023

Deep neural networks (DNNs) have achieved remarkable success in a variety of computer vision tasks, where massive labeled images are routinely required for model optimization. Yet, the data collected from the open world are unavoidably polluted by noise, which may significantly undermine the efficacy of the learned models. Various attempts have been made to reliably train DNNs under data noise, but they separately account for either the noise existing in the labels or that existing in the images. A naive combination of the two lines of works would suffer from the limitations in both sides, and miss the opportunities to handle the two kinds of noise in parallel. This work provides a first, unified framework for reliable learning under the joint (image, label)-noise. Technically, we develop a confidence-based sample filter to progressively filter out noisy data without the need of pre-specifying noise ratio. Then, we penalize the model uncertainty of the detected noisy data instead of letting the model continue over-fitting the misleading information in them. Experimental results on various challenging synthetic and real-world noisy datasets verify that the proposed method can outperform competing baselines in the aspect of classification performance.
Step by Step Loss Goes Very Far: Multi-Step Quantization for Adversarial Text Attacks
Venue: arXiv cs.CL 2023
Year: 2023

We propose a novel gradient-based attack against transformer-based language models that searches for an adversarial example in a continuous space of token probabilities. Our algorithm mitigates the gap between adversarial loss for continuous and discrete text representations by performing multi-step quantization in a quantization-compensation loop. Experiments show that our method significantly outperforms other approaches on various natural language processing (NLP) tasks.
GCNet: Probing Self-Similarity Learning for Generalized Counting Network
Venue: arXiv cs.CV 2023
Year: 2023

The class-agnostic counting (CAC) problem has caught increasing attention recently due to its wide societal applications and arduous challenges. To count objects of different categories, existing approaches rely on user-provided exemplars, which is hard-to-obtain and limits their generality. In this paper, we aim to empower the framework to recognize adaptive exemplars within the whole images. A zero-shot Generalized Counting Network (GCNet) is developed, which uses a pseudo-Siamese structure to automatically and effectively learn pseudo exemplar clues from inherent repetition patterns. In addition, a weakly-supervised scheme is presented to reduce the burden of laborious density maps required by all contemporary CAC models, allowing GCNet to be trained using count-level supervisory signals in an end-to-end manner. Without providing any spatial location hints, GCNet is capable of adaptively capturing them through a carefully-designed self-similarity learning strategy. Extensive experiments and ablation studies on the prevailing benchmark FSC147 for zero-shot CAC demonstrate the superiority of our GCNet. It performs on par with existing exemplar-dependent methods and shows stunning cross-dataset generality on crowd-specific datasets, e.g., ShanghaiTech Part A, Part B and UCF_QNRF.
Neural Capacitated Clustering
Venue: arXiv cs.LG 2023
Year: 2023

Recent work on deep clustering has found new promising methods also for constrained clustering problems. Their typically pairwise constraints often can be used to guide the partitioning of the data. Many problems however, feature cluster-level constraints, e.g. the Capacitated Clustering Problem (CCP), where each point has a weight and the total weight sum of all points in each cluster is bounded by a prescribed capacity. In this paper we propose a new method for the CCP, Neural Capacited Clustering, that learns a neural network to predict the assignment probabilities of points to cluster centers from a data set of optimal or near optimal past solutions of other problem instances. During inference, the resulting scores are then used in an iterative k-means like procedure to refine the assignment under capacity constraints. In our experiments on artificial data and two real world datasets our approach outperforms several state-of-the-art mathematical and heuristic solvers from the literature. Moreover, we apply our method in the context of a cluster-first-route-second approach to the Capacitated Vehicle Routing Problem (CVRP) and show competitive results on the well-known Uchoa benchmark.
The Coxeter symmetries of high-level general sequential computation in the invertible-digital and quantum domains
Venue: arXiv cs.DM 2023
Year: 2023

The article investigates high-level general invertible-sequential processing in the digital and quantum domains. In particular it is shown that (i) invertible digital-sequential processes, constructed using a standard general-inversion procedure, and (ii) sequential quantum processes, determine Coxeter groups. In each case the groups are seen to define all processes that may be constructed from the, given, elemental processes of the sequences. Explicit forms of the presentations of the Coxeter groups are given for all cases. The quantum processes are seen to define unitary representations of the associated Coxeter groups in tensor-product qubit spaces.
Social Virtual Reality Avatar Biosignal Animations as Availability Status Indicators
Venue: arXiv cs.HC 2023
Year: 2023

In this position paper, we outline our research challenges in Affective Interactive Systems, and present recent work on visualizing avatar biosignals for social VR entertainment. We highlight considerations for how biosignals animations in social VR spaces can (falsely) indicate users' availability status.
Recognising permuted Demidenko matrices
Venue: arXiv cs.DM 2023
Year: 2023

We solve the recognition problem (RP) for the class of Demidenko matrices. Our result closes a remarkable gap in the recognition of specially structured matrices. Indeed, the recognition of permuted Demidenko matrices is a longstanding open problem, in contrast to the effciently solved RP for important subclasses of Demidenko matrices such as the Kalmanson matrices, the Supnick matrices, the Monge matrices and the Anti-Robinson matrices. The recognition of the permuted Demidenko matrices is relevant in the context of hard combinatorial optimization problems which become tractable if the input is a Demidenko matrix. Demidenko matrices were introduced by Demidenko in 1976, when he proved that the Travelling Salesman Problem (TSP) is polynomially solvable if the symmetric distance matrix fulfills certain combinatorial conditions, nowadays known as the Demidenko conditions. In the context of the TSP the recognition problem consists in deciding whether there is a renumbering of the cities such that the correspondingly renumbered distance matrix fulfills the Demidenko conditions, thus resulting in a polynomially solvable special case of the TSP. We show that such a renumbering of n cities can be found in $O(n^4)$ time, if it exists.